Paparazzi UAS  v5.10_stable-5-g83a0da5-dirty
Paparazzi is a free software Unmanned Aircraft System.
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ins_xsens700.c
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1 /*
2  * Copyright (C) 2013 Christophe De Wagter
3  *
4  * This file is part of paparazzi.
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6  * paparazzi is free software; you can redistribute it and/or modify
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22 
28 #include "ins_xsens700.h"
29 #include "xsens_common.h"
30 #include "subsystems/ins.h"
31 
32 #include "generated/airframe.h"
33 
34 #include "mcu_periph/sys_time.h"
36 #include "pprzlink/messages.h"
37 
38 #if USE_GPS_XSENS
39 #if !USE_GPS
40 #error "USE_GPS needs to be 1 to use the Xsens GPS!"
41 #endif
42 #include "subsystems/gps.h"
43 #include "subsystems/abi.h"
46 #include "subsystems/navigation/common_nav.h" /* needed for nav_utm_zone0 */
47 #endif
48 
52 #ifndef INS_XSENS700_GPS_ID
53 #define INS_XSENS700_GPS_ID GPS_MULTI_ID
54 #endif
55 PRINT_CONFIG_VAR(INS_XSENS700_GPS_ID)
57 
60 
61 static void handle_ins_msg(void);
62 static void update_state_interface(void);
63 static void gps_cb(uint8_t sender_id __attribute__((unused)),
64  uint32_t stamp __attribute__((unused)),
65  struct GpsState *gps_s);
66 
68 {
69  xsens700_init();
70 
71  ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
72  ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
73 
74  struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, 0., nav_utm_zone0 };
76  stateSetPositionUtm_f(&utm0);
77 
78  AbiBindMsgGPS(INS_XSENS700_GPS_ID, &gps_ev, gps_cb);
79 }
80 
82 {
83  xsens_event();
84  if (xsens700.msg_received) {
87  xsens700.msg_received = false;
88  }
89 }
90 
91 static void gps_cb(uint8_t sender_id __attribute__((unused)),
92  uint32_t stamp __attribute__((unused)),
93  struct GpsState *gps_s)
94 {
95  struct UtmCoor_f utm = utm_float_from_gps(gps_s, nav_utm_zone0);
96 
97  // set position
99 
100  struct NedCoor_f ned_vel = {
101  gps_s->ned_vel.x / 100.,
102  gps_s->ned_vel.y / 100.,
103  gps_s->ned_vel.z / 100.
104  };
105  // set velocity
106  stateSetSpeedNed_f(&ned_vel);
107 }
108 
109 
110 #if USE_GPS_XSENS
111 void gps_xsens700_init(void)
112 {
113  xsens700.gps.nb_channels = 0;
114 }
115 
116 static void gps_xsens700_publish(void)
117 {
118  // publish gps data
119  uint32_t now_ts = get_sys_time_usec();
120  xsens700.gps.last_msg_ticks = sys_time.nb_sec_rem;
121  xsens700.gps.last_msg_time = sys_time.nb_sec;
122  if (xsens700.gps.fix == GPS_FIX_3D) {
123  xsens700.gps.last_3dfix_ticks = sys_time.nb_sec_rem;
124  xsens700.gps.last_3dfix_time = sys_time.nb_sec;
125  }
126  AbiSendMsgGPS(GPS_XSENS_ID, now_ts, &xsens700.gps);
127 }
128 #endif
129 
130 
131 static void update_state_interface(void)
132 {
133  // Send to Estimator (Control)
134 #ifdef XSENS_BACKWARDS
135  struct FloatEulers att = {
138  -xsens700.euler.psi + RadOfDeg(180)
139  };
140  struct FloatEulerstRates rates = {
141  xsens700.gyro.p,
142  -xsens700.gyro.q,
143  -xsens700.gyro.r
144  };
145 #else
146  struct FloatEulers att = {
150  };
151  struct FloatRates rates = {
152  -xsens700.gyro.p,
153  xsens700.gyro.q,
154  -xsens700.gyro.r
155  };
156 #endif
158  stateSetBodyRates_f(&rates);
159 }
160 
161 
162 void handle_ins_msg(void)
163 {
164 
166 
167  if (xsens700.new_attitude) {
168  new_ins_attitude = true;
169  xsens700.new_attitude = false;
170  }
171 
172 #if USE_GPS_XSENS
173  if (xsens700.gps_available) {
174  // Horizontal speed
175  float fspeed = FLOAT_VECT2_NORM(xsens700.vel);
176  if (xsens700.gps.fix != GPS_FIX_3D) {
177  fspeed = 0;
178  }
179  xsens700.gps.gspeed = fspeed * 100.;
180  xsens700.gps.speed_3d = float_vect3_norm(&xsens700.vel) * 100;
181 
182  float fcourse = atan2f(xsens700.vel.y, xsens700.vel.x);
183  xsens700.gps.course = fcourse * 1e7;
184  SetBit(xsens700.gps.valid_fields, GPS_VALID_COURSE_BIT);
185 
186  gps_xsens700_publish();
187  xsens700.gps_available = false;
188  }
189 #endif // USE_GPS_XSENS
190 }
Event structure to store callbacks in a linked list.
Definition: abi_common.h:65
static void stateSetNedToBodyEulers_f(struct FloatEulers *ned_to_body_eulers)
Set vehicle body attitude from euler angles (float).
Definition: state.h:1087
float phi
in radians
float ins_roll_neutral
Definition: ins_xsens700.c:59
void ins_xsens700_event(void)
Definition: ins_xsens700.c:81
float r
in rad/s
Main include for ABI (AirBorneInterface).
uint8_t nav_utm_zone0
Definition: common_nav.c:44
float psi
in radians
Integrated Navigation System interface.
position in UTM coordinates Units: meters
void xsens_event(void)
Definition: xsens_common.c:44
float q
in rad/s
#define GPS_FIX_3D
3D GPS fix
Definition: gps.h:39
float p
in rad/s
#define INS_ROLL_NEUTRAL_DEFAULT
Definition: ahrs_sim.c:43
int32_t z
Down.
struct FloatVect3 vel
NED velocity in m/s.
Definition: xsens.h:58
static abi_event gps_ev
Definition: ins_xsens700.c:56
struct Xsens xsens700
Definition: xsens700.c:54
void parse_xsens700_msg(void)
Definition: xsens700.c:146
WGS-84 Geoid Heights.
euler angles
int32_t y
East.
static float float_vect3_norm(struct FloatVect3 *v)
static void stateSetPositionUtm_f(struct UtmCoor_f *utm_pos)
Set position from UTM coordinates (float).
Definition: state.h:576
Paparazzi floating point math for geodetic calculations.
#define GPS_VALID_COURSE_BIT
Definition: gps.h:54
static void handle_ins_msg(void)
Definition: ins_xsens700.c:162
float theta
in radians
#define GPS_XSENS_ID
static void stateSetSpeedNed_f(struct NedCoor_f *ned_speed)
Set ground speed in local NED coordinates (float).
Definition: state.h:803
#define FLOAT_VECT2_NORM(_v)
int32_t nav_utm_north0
Definition: common_nav.c:43
vector in North East Down coordinates Units: meters
Architecture independent timing functions.
data structure for GPS information
Definition: gps.h:81
Device independent GPS code (interface)
int32_t x
North.
unsigned long uint32_t
Definition: types.h:18
void xsens700_init(void)
Definition: xsens700.c:58
#define INS_PITCH_NEUTRAL_DEFAULT
Definition: ahrs_sim.c:46
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
Definition: sys_time.h:73
float ins_pitch_neutral
Definition: ins_xsens700.c:58
Xsens700 as a full INS solution.
unsigned char uint8_t
Definition: types.h:14
struct UtmCoor_f utm_float_from_gps(struct GpsState *gps_s, uint8_t zone)
Convenience functions to get utm position from GPS state.
Definition: gps.c:321
volatile uint8_t new_ins_attitude
volatile bool msg_received
Definition: xsens.h:63
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:72
int32_t nav_utm_east0
Definition: common_nav.c:42
struct FloatEulers euler
Definition: xsens.h:61
static void gps_cb(uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
Definition: ins_xsens700.c:91
Parser for the Xsens protocol.
void ins_xsens700_init(void)
Definition: ins_xsens700.c:67
struct FloatRates gyro
Definition: xsens.h:53
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
static void stateSetBodyRates_f(struct FloatRates *body_rate)
Set vehicle body angular rate (float).
Definition: state.h:1163
#define INS_XSENS700_GPS_ID
ABI binding for gps data.
Definition: ins_xsens700.c:53
struct NedCoor_i ned_vel
speed NED in cm/s
Definition: gps.h:90
static void stateSetLocalUtmOrigin_f(struct UtmCoor_f *utm_def)
Set the local (flat earth) coordinate frame origin from UTM (float).
Definition: state.h:471
angular rates
volatile bool new_attitude
Definition: xsens.h:64
static void update_state_interface(void)
Definition: ins_xsens700.c:131